Add a one-file tower bootstrap and a legacy-tower survey, and use an SDK already installed
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@ -25,7 +25,7 @@ design, not yet exercised.
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| The tower host | Powered, on the network, an OS installed, `ssh` running, reachable by key (section 1) |
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| An account | `ggs`, in the `sudo` and `dialout` groups |
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| Both repositories on it | `~/projects/fwt_2a/software` and `~/projects/fwt_2a/firmware` - cloned (`git.ggs-solutions.eu:GGS/fwt_software.git` and `fwt_firmware.git`, which needs a key on the tower), or synced by each repo's `deploy.sh` |
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| Both repositories on it | `~/projects/fwt_2a/software` and `~/projects/fwt_2a/firmware`. `scripts/bootstrap-tower` sets that up from one copied file (below), or each repo's `deploy.sh` syncs them from a dev box |
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| The Vimba X SDK, staged on it | Login-walled, so it cannot be fetched by a script: copy it on (USB stick, `scp`) and give its directory when asked. `none` for a tower with no camera yet |
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| The facts of the build | Which axes, which IMU, which ambient sensor, how the driver boards are wired, and - per axis - the drivetrain: sense resistor, currents, travel, `steps_per_rev`, `sw_mode`, `enc_deviation`, encoder or not. Anything not yet measured can be answered `unknown` |
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@ -36,6 +36,50 @@ The installer takes the board from DMI and picks its kit:
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| LattePanda 3 Delta | ATmega32U4 (Leonardo), 5 V | [`hardware/lattepanda-3-delta/`](../hardware/lattepanda-3-delta/) | `leonardo` |
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| LattePanda IOTA | RP2040, 3.3 V | [`hardware/lattepanda-iota/`](../hardware/lattepanda-iota/) | `iota_rp2040` |
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### Getting the code onto a tower: `scripts/bootstrap-tower`
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One file to copy; it fetches the rest. It needs the Gitea deploy key (tower
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111's `~/.ssh/id_ed25519_deploy_gitea`) in the tower's `~/.ssh/`:
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```bash
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scp scripts/bootstrap-tower ggs@<tower>:
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scp -3 ggs@10.11.12.111:.ssh/id_ed25519_deploy_gitea ggs@<tower>:.ssh/ # -3: via this machine
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ssh -t ggs@<tower> bash bootstrap-tower # any install-tower options pass through
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```
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What it does:
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- adds `Host gitea` (port 2222) to `~/.ssh/config` and records the server's
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host key;
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- clones both repositories side by side, or brings existing clones up to date
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(fast-forward only);
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- starts `install-tower`.
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It stops, rather than overwrite, when it finds a checkout with local changes or
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a directory that isn't a clone.
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### A legacy tower: read it first, with `scripts/survey-legacy-tower`
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The legacy towers run an older host program and a TMC-API Arduino sketch.
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Before migrating one, record what it runs, so its `hardware.ini` comes from its
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own values:
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```bash
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bash survey-legacy-tower --firmware # pauses the old service ~20 s; changes nothing on disk
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```
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**What it records:**
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- the machine: board, OS, groups, disk, whether Gitea, GitHub, PyPI and
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PlatformIO are reachable;
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- the camera and the Vimba install;
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- the old service and its `config.ini`;
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- with `--firmware`, from the old firmware:
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- the endstop travel (`?`);
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- its stored north calibration (`y`);
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- its TMC registers (`i`), with the run current worked out for the usual
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sense resistors.
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The report is saved as `~/legacy-survey-<date>.txt`.
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### Running it
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On the tower, as `ggs`:
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@ -0,0 +1,85 @@
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#!/usr/bin/env bash
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#
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# bootstrap-tower - the one file to copy onto a tower: it fetches everything
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# else. Run it ON the tower, as the tower's user (ggs):
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#
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# scp scripts/bootstrap-tower ggs@<tower>: # from a machine with this repo
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# scp -3 ggs@10.11.12.111:.ssh/id_ed25519_deploy_gitea ggs@<tower>:.ssh/ # the key, via this machine
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# ssh ggs@<tower> bash bootstrap-tower [install-tower options]
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#
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# It needs the tower's deploy key for the Gitea (~/.ssh/id_ed25519_deploy_gitea,
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# the same key tower 111 uses). Then it:
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# 1. sets up ~/.ssh/config "Host gitea" (git.ggs-solutions.eu, port 2222) and
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# records the server's host key;
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# 2. clones fwt_software and fwt_firmware side by side under ~/projects/fwt_2a/,
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# or brings existing clones up to date (fast-forward only);
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# 3. runs software/scripts/install-tower with whatever options it was given
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# (e.g. --dry-run, --answers FILE).
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#
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# Nothing is overwritten: a checkout with local changes, or a directory that is
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# not a clone, stops it with the reason.
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#
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set -euo pipefail
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BASE="${FGC_BASE:-$HOME/projects/fwt_2a}" # FGC_BASE: rehearse somewhere else
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KEY="$HOME/.ssh/id_ed25519_deploy_gitea"
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HOST=git.ggs-solutions.eu
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PORT=2222
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say() { printf '>> %s\n' "$*"; }
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die() { printf 'bootstrap-tower: %s\n' "$*" >&2; exit 1; }
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[[ $EUID -ne 0 ]] || die "run as the tower's user (ggs), not root"
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for tool in git ssh ssh-keyscan; do
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command -v "$tool" >/dev/null || {
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say "installing git and the ssh client"
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sudo apt-get update -qq && sudo apt-get install -y -qq git openssh-client
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break
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}
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done
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# ---- the deploy key and the gitea alias ------------------------------------
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[[ -r $KEY ]] || die "no deploy key at $KEY. Copy it from tower 111:
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scp -3 ggs@10.11.12.111:.ssh/id_ed25519_deploy_gitea ggs@<this tower>:.ssh/ (from your laptop)
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(or put this tower's own key there, registered read-only on both repositories)"
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chmod 600 "$KEY"
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mkdir -p "$HOME/.ssh" && chmod 700 "$HOME/.ssh"
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touch "$HOME/.ssh/config" && chmod 600 "$HOME/.ssh/config"
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if ! grep -qE '^Host[[:space:]]+gitea([[:space:]]|$)' "$HOME/.ssh/config"; then
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say "adding 'Host gitea' to ~/.ssh/config"
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printf '\nHost gitea\n Hostname %s\n User git\n Port %s\n IdentityFile %s\n' \
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"$HOST" "$PORT" "$KEY" >> "$HOME/.ssh/config"
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fi
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if ! ssh-keygen -F "[$HOST]:$PORT" >/dev/null 2>&1; then
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say "recording the host key of $HOST:$PORT"
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ssh-keyscan -p "$PORT" "$HOST" 2>/dev/null >> "$HOME/.ssh/known_hosts"
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ssh-keygen -F "[$HOST]:$PORT" -l | sed 's/^/ /'
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fi
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git ls-remote gitea:GGS/fwt_software.git >/dev/null 2>&1 ||
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die "the deploy key cannot read gitea:GGS/fwt_software.git - is port $PORT reachable from here, and is the key registered on the repository?"
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# ---- both repositories, side by side ----------------------------------------
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fetch() { # repo-name directory
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local repo="$1" dir="$BASE/$2"
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if [[ -d $dir/.git ]]; then
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[[ -z $(git -C "$dir" status --porcelain) ]] ||
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die "$dir has local changes; commit or set them aside first"
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say "updating $dir"
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git -C "$dir" pull --ff-only -q
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elif [[ -e $dir ]]; then
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die "$dir exists but is not a git clone (a tree copied by deploy.sh?). Move it aside, then run this again."
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else
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say "cloning $repo into $dir"
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git clone -q "gitea:GGS/$repo.git" "$dir"
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fi
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say " $2 at $(git -C "$dir" log --oneline -1)"
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}
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mkdir -p "$BASE"
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fetch fwt_software software
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fetch fwt_firmware firmware
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# ---- the installer ---------------------------------------------------------
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say "starting the installer"
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cd "$BASE/software"
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exec scripts/install-tower "$@"
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@ -80,6 +80,10 @@ die() { printf 'install-tower: %s\n' "$*" >&2; exit 1; }
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hr() { printf '\n== %s ==\n' "$*"; }
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[[ $EUID -ne 0 ]] || die "run as the tower's user (ggs), not root: builds and ~/.platformio must belong to it. It uses sudo where it has to."
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# The motor MCU is a serial device: without dialout the program cannot open it
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# and the flash cannot reach it - found here, not as a failure an hour in.
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id -nG | tr ' ' '\n' | grep -qx dialout ||
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die "$USER is not in the dialout group, so it cannot use the motor MCU's serial port. Run: sudo usermod -aG dialout $USER - then log out and back in (the group applies to new logins) and run this again."
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# ------------------------------------------------------------- questions ---
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# Answers come from --answer / --answers first; otherwise from the terminal. With
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@ -463,11 +467,21 @@ VIMBA_SRC=""
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if [[ -d /opt/VimbaX/cti ]]; then
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plan vimba skip "$(readlink -f /opt/VimbaX)"
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else
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# An SDK already installed under a versioned name - the legacy towers' own
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# software put it at /opt/VimbaX_2024-1, with no /opt/VimbaX - is used where it
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# is: installing it registers it and links /opt/VimbaX to it, copying nothing.
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existing="$(ls -d /opt/VimbaX_*/ 2>/dev/null | sed 's:/$::' | sort | tail -1 || true)"
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[[ -x ${existing:-/nonexistent}/cti/Install_GenTL_Path.sh ]] || existing=""
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staged="$(ls -d "$HOME"/VimbaX_* 2>/dev/null | head -1 || true)"
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if [[ -n $existing ]]; then
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echo "A Vimba X SDK is already on this machine at $existing, but not as /opt/VimbaX."
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echo "Take it (it is registered and linked, not copied), or give another directory."
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else
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echo "The Vimba X SDK is not installed. It cannot be downloaded by a script: copy it"
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echo "onto this machine (USB stick or scp) and give its directory, or 'none' for a"
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echo "tower with no camera yet."
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ask vimba_src "Staged Vimba X directory" "${staged:-none}"
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fi
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ask vimba_src "Vimba X directory" "${existing:-${staged:-none}}"
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if [[ $REPLY_VAL == none ]]; then plan vimba skip "no camera SDK (answered none)"
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else
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[[ -x $REPLY_VAL/cti/Install_GenTL_Path.sh ]] || die "$REPLY_VAL does not look like a Vimba X SDK"
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@ -0,0 +1,147 @@
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#!/usr/bin/env bash
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#
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# survey-legacy-tower - read what a legacy tower (the old host program and the
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# TMC-API Arduino sketch) is running, BEFORE it is migrated, so its
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# hardware.ini is written from its own values rather than another tower's.
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# Run it ON the legacy tower. Changes nothing on disk.
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#
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# bash survey-legacy-tower the machine, the old install, the camera
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# bash survey-legacy-tower --firmware also ask the old firmware for its
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# registers, travel and north calibration:
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# pauses the old service for ~20 s
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#
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# The report is printed and saved to ~/legacy-survey-<date>.txt.
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#
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# The firmware part talks the old sketch's own serial protocol:
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# ? endstop positions and the travel between them (set by its last home)
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# y its north calibration from EEPROM (the same `y` the old host sends
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# after every home - it reloads the stored value, it stores nothing)
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# id<n> read TMC5160 register n (write-only ones answer from the library's copy)
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#
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set -uo pipefail
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FIRMWARE=0
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[[ ${1:-} == --firmware ]] && FIRMWARE=1
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OUT="$HOME/legacy-survey-$(date +%Y%m%d-%H%M%S).txt"
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exec > >(tee "$OUT") 2>&1
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hr() { printf '\n== %s ==\n' "$*"; }
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reach() { timeout 6 bash -c "</dev/tcp/$1/$2" 2>/dev/null && echo "ok" || echo "NO"; }
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hr "machine"
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echo "board : $(tr -d '\0' < /sys/class/dmi/id/product_name 2>/dev/null || echo '?')"
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echo "os : $(. /etc/os-release 2>/dev/null && echo "$PRETTY_NAME") ($(uname -r))"
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echo "user : $USER groups: $(id -nG)"
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echo "disk / : $(df -h / | awk 'NR==2 {print $4 " free of " $2}')"
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echo "memory : $(free -h | awk '/^Mem/ {print $2}')"
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echo "internet : gitea:2222 $(reach git.ggs-solutions.eu 2222) github $(reach github.com 443) pypi $(reach pypi.org 443) platformio $(reach dl.registry.platformio.org 443)"
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hr "USB"
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lsusb 2>/dev/null | grep -Ei '1ab2|2341|arduino|allied' || echo "(no Alvium or Arduino on lsusb)"
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ls /dev/serial/by-id/ 2>/dev/null | sed 's/^/by-id: /'
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hr "Vimba X and the camera"
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ls -d /opt/VimbaX* 2>/dev/null || echo "no /opt/VimbaX*"
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for tool in /opt/VimbaX*/bin/ListCameras_VmbC /opt/VimbaX*/bin/ListCameras; do
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[[ -x $tool ]] || continue
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cti="$(dirname "$(dirname "$tool")")/cti"
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GENICAM_GENTL64_PATH="$cti" "$tool" 2>/dev/null | grep -E 'Camera (ID|Name)|Model|Transport Layer Path' | sed 's/^/ /'
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break
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done
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hr "the old install"
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systemctl is-enabled fire-gimbal-control 2>/dev/null | sed 's/^/service enabled: /'
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systemctl is-active fire-gimbal-control 2>/dev/null | sed 's/^/service active : /'
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systemctl cat fire-gimbal-control 2>/dev/null | grep -E '^(ExecStart|WorkingDirectory|User|Environment)=' | sed 's/^/ /'
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for c in /opt/fire_gimbal_control/config.ini "$HOME"/*/config.ini; do
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[[ -r $c ]] || continue
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echo "-- $c (passwords masked)"
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grep -vE '^[[:space:]]*(;|#|$)' "$c" | sed -E 's/^(mqtt_pw[[:space:]]*=).*/\1 *****/' | sed 's/^/ /'
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done
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[[ $FIRMWARE -eq 1 ]] || { hr "firmware"; echo "not asked (run with --firmware)"; echo; echo "saved: $OUT"; exit 0; }
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hr "the old firmware"
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PORT="$(ls /dev/serial/by-id/*Arduino* 2>/dev/null | head -1)"
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[[ -n $PORT ]] || { echo "no Arduino on /dev/serial/by-id"; exit 1; }
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WAS_ACTIVE="$(systemctl is-active fire-gimbal-control 2>/dev/null || true)"
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if [[ $WAS_ACTIVE == active ]]; then
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echo "pausing the old service (it holds the port)"
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sudo systemctl stop fire-gimbal-control
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trap 'echo "restarting the old service"; sudo systemctl start fire-gimbal-control' EXIT
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sleep 2
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fi
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python3 - "$PORT" <<'PYEOF'
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import os, sys, termios, time, math
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port = sys.argv[1]
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fd = os.open(port, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK)
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a = termios.tcgetattr(fd)
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a[0] = 0; a[1] = 0; a[2] = termios.CS8 | termios.CREAD | termios.CLOCAL; a[3] = 0
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a[4] = a[5] = termios.B115200
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termios.tcsetattr(fd, termios.TCSANOW, a)
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buf = b""
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def lines_for(seconds):
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global buf
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out, end = [], time.time() + seconds
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while time.time() < end:
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try:
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buf += os.read(fd, 4096)
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except BlockingIOError:
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time.sleep(0.02)
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while b"\n" in buf:
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line, buf = buf.split(b"\n", 1)
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out.append(line.decode(errors="replace").strip())
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return out
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def ask(cmd, seconds=0.8):
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lines_for(0.2) # drop what was already streaming
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os.write(fd, cmd.encode() + b"\n")
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got = lines_for(seconds)
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return [l for l in got if l and not l.startswith("$")], [l for l in got if l.startswith("$")]
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_, status = ask("", 1.0)
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print("status line :", status[-1] if status else "(none - is this the legacy firmware?)")
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reply, _ = ask("?")
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print("? (endstops) :", " | ".join(reply) or "(no answer)")
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nums = [int(x) for x in reply if x.lstrip("-").isdigit()]
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if len(nums) >= 3:
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r, l = nums[0], nums[1]
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print(f" right {r} left {l} travel {abs(l - r)} counts = {abs(l - r) / 528.253966:.1f} deg at 528.25 counts/deg")
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reply, _ = ask("y")
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print("y (north) :", " | ".join(reply) or "(no answer)")
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REGS = [("GCONF", 0x00), ("GLOBALSCALER", 0x0B), ("IHOLD_IRUN", 0x10), ("TPOWERDOWN", 0x11),
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("XACTUAL", 0x21), ("AMAX", 0x26), ("VMAX", 0x27), ("DMAX", 0x28), ("SW_MODE", 0x34),
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("ENCMODE", 0x38), ("X_ENC", 0x39), ("ENC_CONST", 0x3A), ("ENC_DEVIATION", 0x3D),
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("CHOPCONF", 0x6C), ("COOLCONF", 0x6D), ("PWMCONF", 0x70)]
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vals = {}
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print("registers :")
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for name, n in REGS:
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reply, _ = ask(f"id{n}")
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v = None
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for x in reply:
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if x.startswith("READ"):
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try: v = int(x.split(",")[-1])
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except ValueError: pass
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vals[name] = v
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shown = "(no answer)" if v is None else f"{v} = 0x{v & 0xFFFFFFFF:08X}"
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print(f" {name:14s} 0x{n:02X} {shown}")
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gs, ii = vals.get("GLOBALSCALER"), vals.get("IHOLD_IRUN")
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if ii is not None:
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irun, ihold = (ii >> 8) & 0x1F, ii & 0x1F
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scale = (gs or 256) / 256.0
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print(f"current : IRUN {irun}, IHOLD {ihold}, GLOBALSCALER {gs if gs else '0 (=256, full)'}")
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for rs in (0.075, 0.05):
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i_run = scale * (irun + 1) / 32 * 0.325 / rs / math.sqrt(2) * 1000
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print(f" with a {rs * 1000:.0f} mOhm sense resistor: run {i_run:.0f} mA RMS"
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" (read the resistor off the board before trusting either)")
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os.close(fd)
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PYEOF
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echo
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echo "saved: $OUT"
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@ -826,16 +826,50 @@ std::string updateIniSectionKeys(const std::string& contents, const std::string&
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}
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out << line << "\n";
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}
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// Any keys not present in the section get appended in a fresh [section] block
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// (inih merges duplicate sections on read).
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// Keys the section does not have yet go INTO it, after its last key line, with
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// a note of when and why. A second [section] block at the end reads the same
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// (inih merges duplicates) but is not where a person reading the file looks -
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// on tower 111 it left `cooling` a hundred lines away from `env`. Only a
|
||||
// section the file lacks altogether is appended.
|
||||
bool missing = false;
|
||||
for (bool w : written) missing = missing || !w;
|
||||
if (missing) {
|
||||
out << "\n[" << section << "]\n";
|
||||
if (!missing) return out.str();
|
||||
|
||||
std::vector<std::string> block;
|
||||
if (keep_history) block.push_back("; added ; " + provenance);
|
||||
for (size_t i = 0; i < kv.size(); ++i)
|
||||
if (!written[i]) out << kv[i].first << " = " << kv[i].second << "\n";
|
||||
if (!written[i]) block.push_back(kv[i].first + " = " + kv[i].second);
|
||||
|
||||
std::vector<std::string> lines;
|
||||
{
|
||||
std::istringstream split(out.str());
|
||||
for (std::string l; std::getline(split, l);) lines.push_back(l);
|
||||
}
|
||||
return out.str();
|
||||
long header = -1, last_key = -1;
|
||||
for (size_t i = 0; i < lines.size(); ++i) {
|
||||
const std::string t = trimmed(lines[i]);
|
||||
if (t.size() >= 2 && t.front() == '[' && t.back() == ']') {
|
||||
if (header >= 0) break; // the end of the first block of this section
|
||||
if (trimmed(t.substr(1, t.size() - 2)) == section) header = static_cast<long>(i);
|
||||
continue;
|
||||
}
|
||||
if (header >= 0 && !t.empty() && t[0] != ';' && t[0] != '#' &&
|
||||
t.find('=') != std::string::npos)
|
||||
last_key = static_cast<long>(i);
|
||||
}
|
||||
std::ostringstream res;
|
||||
if (header < 0) {
|
||||
res << out.str() << "\n[" << section << "]\n";
|
||||
for (const auto& b : block) res << b << "\n";
|
||||
return res.str();
|
||||
}
|
||||
const long after = last_key >= 0 ? last_key : header;
|
||||
for (size_t i = 0; i < lines.size(); ++i) {
|
||||
res << lines[i] << "\n";
|
||||
if (static_cast<long>(i) == after)
|
||||
for (const auto& b : block) res << b << "\n";
|
||||
}
|
||||
return res.str();
|
||||
}
|
||||
|
||||
bool saveMotorGeometry(const std::string& path, const Geometry& geo, long yaw_margin,
|
||||
|
|
|
|||
|
|
@ -1,6 +1,7 @@
|
|||
#include <doctest/doctest.h>
|
||||
|
||||
#include "fgc/Config.h"
|
||||
#include "fgc/IniEdit.h"
|
||||
|
||||
#include <cmath>
|
||||
#include <cstdio>
|
||||
|
|
@ -274,6 +275,22 @@ TEST_CASE("updateIniSectionKeys appends keys missing from the section") {
|
|||
CHECK(out.find("pitch_center_count = 7") != std::string::npos);
|
||||
}
|
||||
|
||||
TEST_CASE("a key the section lacks goes into that section, not a second block") {
|
||||
const std::string in = "[Hardware]\naxes = yaw\nenv = dht11\n\n; about pins\n[Pins]\n"
|
||||
"yaw_cs = 8\n\n[Camera.rgb]\nid = X\n";
|
||||
auto out = updateIniSectionKeys(in, "Hardware", {{"cooling", "fan"}}, "t1, fan test");
|
||||
CHECK(out.find("[Hardware]") == out.rfind("[Hardware]")); // still one block
|
||||
CHECK(out.find("env = dht11\n; added ; t1, fan test\ncooling = fan\n") !=
|
||||
std::string::npos); // right after its keys
|
||||
CHECK(out.find("cooling = fan") < out.find("; about pins")); // before the next one's comment
|
||||
auto kv = parseIniString(out);
|
||||
CHECK(kv["Hardware.cooling"] == "fan");
|
||||
|
||||
// A section the file does not have is still appended whole.
|
||||
auto out2 = updateIniSectionKeys(in, "Env", {{"i2c_device", "/dev/i2c-2"}});
|
||||
CHECK(out2.find("\n[Env]\ni2c_device = /dev/i2c-2\n") != std::string::npos);
|
||||
}
|
||||
|
||||
TEST_CASE("updateIniSectionKeys keeps the superseded value as a ';prev' comment") {
|
||||
const std::string in =
|
||||
"[Motor]\n"
|
||||
|
|
|
|||
Loading…
Reference in New Issue